Misaligned pointcloud from a singleway view.

[dokturdro]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

I am learning Open3D from zero and I am trying to do a 3D interior scene reconstruction from a public dataset - GMU Kitchens - and I get this misaligned result that looks like it is working almost properly but has like 4-5 different relatively aligned sets of points that are not aligned with all the other sets.

I have used default config and then played with it for a while but I could do get much change. It is probably a newbie mistake and a fix but I don't seem to be able to catch it.

[theNded]

Every point cloud is in their own coordinate system by default. To put them together, you will have to use pointcloud.transform(pose) in order to align them into the same coordinate system. I'm not very familiar with your dataset, but it seems camera pose information is given. Try to load them, play with them, and see if it works.